ellensohn/cps_rmp220_support
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Björn Ellensohn 2023-07-31 12:40:12 +02:00
parent f8017b54a2
commit 79bd85876d
1 changed files with 4 additions and 4 deletions
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8
description/robot_core.xacro
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@ -79,25 +79,25 @@
<joint name="chassis_joint" type="fixed"> <joint name="chassis_joint" type="fixed">
<parent link="base_link"/> <parent link="base_link"/>
<child link="chassis"/> <child link="chassis"/>
<origin xyz="${-wheel_offset_x} 0 ${-wheel_offset_z}"/> <origin xyz="0 0 ${-wheel_offset_z}"/>
</joint> </joint>
<link name="chassis"> <link name="chassis">
<visual> <visual>
<origin xyz="${chassis_length/2} 0 ${chassis_height/2}"/> <origin xyz="0 0 0"/>
<geometry> <geometry>
<box size="${chassis_length} ${chassis_width} ${chassis_height}"/> <box size="${chassis_length} ${chassis_width} ${chassis_height}"/>
</geometry> </geometry>
<material name="orange"/> <material name="orange"/>
</visual> </visual>
<collision> <collision>
<origin xyz="${chassis_length/2} 0 ${chassis_height/2}"/> <origin xyz="0 0 0"/>
<geometry> <geometry>
<box size="${chassis_length} ${chassis_width} ${chassis_height}"/> <box size="${chassis_length} ${chassis_width} ${chassis_height}"/>
</geometry> </geometry>
</collision> </collision>
<xacro:inertial_box mass="0.5" x="${chassis_length}" y="${chassis_width}" z="${chassis_height}"> <xacro:inertial_box mass="0.5" x="${chassis_length}" y="${chassis_width}" z="${chassis_height}">
<origin xyz="${chassis_length/2} 0 ${chassis_height/2}" rpy="0 0 0"/> <origin xyz="0 0 0" rpy="0 0 0"/>
</xacro:inertial_box> </xacro:inertial_box>
</link> </link>